feat: add conditional rendering in scene capture logic (#336)

- Add a `Render` bool property to control scene capture execution. - Wrap the scene capture logic in a conditional check on `Render` to allow for selective rendering.
rapyuta-robotics · Dec 2, 2024 · d776bf5 · d776bf5
1 parent d595b8c
commit d776bf5
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp b/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp
@@ -49,8 +49,10 @@ void URRROS2CameraComponent::PreInitializePublisher(UROS2NodeComponent* InROS2No
 
 void URRROS2CameraComponent::SensorUpdate()
 {
-    SceneCaptureComponent->CaptureScene();
-    CaptureNonBlocking();
+    if (Render) {
+        SceneCaptureComponent->CaptureScene();
+        CaptureNonBlocking();
+    }
 }
 
 // reference https://github.com/TimmHess/UnrealImageCapture

diff --git a/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h b/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h
@@ -114,6 +114,9 @@ class RAPYUTASIMULATIONPLUGINS_API URRROS2CameraComponent : public URRROS2BaseSe
     UPROPERTY(EditAnywhere, BlueprintReadWrite)
     EROS2CameraType CameraType = EROS2CameraType::RGB;
 
+    UPROPERTY(EditAnywhere, BlueprintReadWrite)
+    bool Render = true;
+
     // ROS
     /**
      * @brief Update ROS 2 Msg structure from #RenderRequestQueue